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Port parameter declared check compressed image transport subscription #82

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Port parameter declared check compressed image transport subscription #82

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28 changes: 21 additions & 7 deletions compressed_image_transport/src/compressed_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,13 +67,27 @@ void CompressedSubscriber::subscribeImpl(
typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
Base::subscribeImpl(node, base_topic, callback, custom_qos);
std::string mode;
rcl_interfaces::msg::ParameterDescriptor mode_description;
mode_description.name = "mode";
mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
mode_description.description = "OpenCV imdecode flags to use";
mode_description.read_only = false;
mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
mode = node->declare_parameter("mode", kDefaultMode, mode_description);

uint ns_len = node->get_effective_namespace().length();
std::string param_base_name = base_topic.substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
std::string mode_param_name = param_base_name + ".mode";

if (!node->has_parameter(mode_param_name))
{
rcl_interfaces::msg::ParameterDescriptor mode_description;
mode_description.name = mode_param_name;
mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
mode_description.description = "OpenCV imdecode flags to use";
mode_description.read_only = false;
mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
mode = node->declare_parameter(mode_param_name, kDefaultMode, mode_description);
}
else
{
RCLCPP_DEBUG(logger_, "%s was previously declared", mode_param_name.c_str());
mode = node->get_parameter(mode_param_name).get_value<std::string>();
}

if (mode == "unchanged") {
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
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